Transport system powered by short block linear synchronous motors and switching mechanism

ABSTRACT

The invention provides in some aspects a transport system comprising a guideway with a plurality of propulsion coils disposed along a region in which one or more vehicles are to be propelled. One or more vehicles are disposed on the guideway, each including a magnetic flux source. The guideway has one or more running surfaces that support the vehicles and along which they roll or slide. Each vehicle can have a septum portion of narrowed cross-section that is coupled to one or more body portions of the vehicle. The guideway includes a diverge region that has a flipper and an extension of the running surface at a vertex of the diverge. The flipper initiates switching of vehicle direction at a diverge by exerting a laterally directed force thereon.

CROSS REFERENCE AND RELATED APPLICATIONS

The present application is a continuation-in-part of, and claims thebenefit of, U.S. patent application Ser. No. 12/692,441, filed Jan. 22,2010, which is a continuation-in-part of, and claims the benefit of U.S.patent application Ser. No. 12/359,022, filed Jan. 23, 2009, entitled“Transport System Powered by Short Block Linear Synchronous Motors” andalso claims the benefit of a U.S. Provisional Patent Application bearingSer. No. 61/184,570, filed Jun. 5, 2009, entitled “Improved TransportSystem Powered By Short Block Linear Synchronous Motors.” The teachingsof the foregoing applications are hereby incorporated herein, byreference.

BACKGROUND OF THE INVENTION

The invention pertains to transport systems and more particularly, byway of example, to guideway-based transport system with short blocklinear synchronous motors. The invention has application, by way ofnon-limiting example, in production lines, laboratories and otherapplications requiring complex guideways, sharp turns, merge and divergeswitching, and/or inverted operation.

There are many types of transport systems that can move objects on aguideway. Examples include: wheel-suspended vehicles propelled by rotaryor linear motors, maglev or air-cushion suspended vehicles propelled bylinear motors or cables, vehicles that move in tubes propelled by airpressure, vehicles supported or guided by bearings, and vehicles thatare moved on conveyor belts. Existing transport systems have many usefulapplications but there are opportunities for substantial improvement,for example, in the precise movement of relatively small and closelyspaced objects on a complex guideway.

Small and medium size objects are often transported on conveyor beltsbecause this eliminates the need for wheels or other mechanisms tosuspend, guide and propel the objects. Belt transport systems arerelatively inexpensive but they lack precise control that is oftenneeded and they require substantial maintenance because of many movingparts. Other approaches to low cost transport include air propelledvehicle moving in tubes and the use of gravitational forces to moveobjects down an incline, but these approaches have even less precisecontrol.

The advantages of using linear synchronous motor (LSM) propulsion arewell known and described in other patents (by way of non-limitingexample, U.S. Pat. Nos. 7,458,454, 7,448327, 6,983,701, 6,917,136,6,781,524, 6,578,495, 6,499,701, 6,101,952, and 6,011,508, all assignedto the assignee hereof and the teachings of all of which areincorporated herein by reference), but in many cases, particularly, forexample, when moving small and closely spaced objects, the LSM can bemore expensive and provide less throughput than competing propulsivesystems.

In view of the foregoing, an object of the invention is to provideimproved transport systems, apparatus and methods.

A related object of the invention is to provide such systems, apparatusand methods as take advantage of LSM technologies.

Another related object of the invention is to provide such systems,apparatus and methods as are adapted for transport of small objectsand/or medium-sized objects.

A further related object of the invention is to provide such systems,apparatus and methods as are adapted for use with closely-spacedobjects.

Still another object of the invention is to provide such systems,apparatus and methods as are adapted for use in production lines,laboratories and other applications requiring complex guideways, sharpturns, merge and diverge switching, and/or inverted operation.

SUMMARY OF THE INVENTION

The foregoing are among the objects attained by the invention, whichprovides in some aspects a transport system comprising a guideway with aplurality of propulsion coils disposed along a region in which one ormore vehicles are to be propelled. One or more vehicles are disposed onthe guideway, each including a magnetic flux source. The guideway hasone or more running surfaces that support the vehicles and along whichthey roll or slide. Each vehicle can have a septum portion of narrowedcross-section that is coupled to one or more body portions of thevehicle. The guideway includes a diverge region that has a flipper andan extension of the running surface at a vertex of the diverge. Theflipper initiates switching of vehicle direction at a diverge byexerting a laterally directed force thereon. The extension continuesswitching of vehicle direction at the diverge by contacting the septum.

Further aspects of the invention provide a transport system, e.g., asdescribed above, in which the flipper initiates switching of vehicledirection by contacting a vehicle, e.g., along one of the outer surfacesof its body (as opposed, for example, to contacting the septum of thevehicle).

Yet still further aspects of the invention provides a transport system,e.g., as described in claim 1, in which the running surface extension atthe diverge is triangularly shaped.

Still another aspect of the invention provides a transport system, e.g.,as described above, in which the guideway has one or more guidancesurfaces that constrain motion the vehicles laterally. According tothese and related aspects, those surfaces provide guidance for switchingof vehicle direction at the diverge.

Thus, for example, in some aspects of the invention the flipperinitiates switching of vehicle direction at a diverge by exerting alateral force on the vehicle, the extension of the running surfaces avertex of the diverge continues switching of the vehicle direction,and/or the guidance surface provides still further guidance forswitching at a latter point of the diverge.

Related aspects of the invention provide a transport system, e.g., asdescribed above, in which switch is mechanically actuated, e.g., by arotary stepper motor that includes zero, one or more encoders. Otherrelated aspects of the invention provide such a system in which an armof the stepper motor is received in a kidney-shaped aperture of theflipper. Still yet other related aspects of the invention provide such asystem in which the motor drives the flipper into any of threepositions: undeployed, deployed and partially-deployed.

Still other aspects of the invention provide a transport system, e.g.,as described above, arranged for small parts inspection and/or assembly,wherein the vehicles are between 50 mm and 200 mm wide, have lengths ofbetween one and two times that width, and have loaded masses of between0.2 kg and 4 kg; the vehicles move on the guideway at speeds in excessof 2 m/s; and, the flipper initiates switching of a vehicle by movingless than about 2 cm.

Still yet other aspects of the invention provide a transport system,e.g., as described above, in which one or more of the vehicles hasguidance surfaces that include one or more first regions for contactingthe guidance surface of the guideway at some portions of the guidewayand include one or more second regions for contacting the guidancesurface of the guideway at other portions of the guideway. Those “first”regions can be straightaways, while the “second” regions can be curves.Moreover, according to related aspects of the invention, the flipper ofa system, e.g., as described above, can initiate switching of vehicledirection at a diverge by contacting one or more of the secondregions—which, according to further aspects of the invention may becurved.

Yet other aspects of the invention provide a transport system, e.g., asdescribed above, in which one or more of the vehicles has one or morepins extending from near where the running surfaces that form part ofthe vehicle roll or slide along running surfaces of the guideway, and inwhich those pins interact with the flipper to control direction ofmotion of the vehicle at the diverge.

Still other aspects of the invention provide a transport system, e.g.,as described above, that includes a merge region including a flipper anda broadened region of the running surface. The flipper applies a lateralforce to the vehicle to alter an angle thereof as the vehicle enters themerge region, and the broadened region continues the merge by contactingthe septum of the vehicle, thereby, providing further guidance orchanneling for the merge.

Related aspects of the invention provide such a transport system inwhich the flipper is equipped for being fully- or partially-deployed,and in which the flipper is utilized in the partially-deployedconfiguration for effecting alteration of the vehicle angle as thevehicle enters the merge.

Still yet other aspects of the invention provide vehicles for use intransport systems, e.g., as described above. Such vehicles can generallybe of rectangular, pointed-oval or other cross-section. Moreover, two ormore of such vehicles can be coupled, e.g., pivotably, in order to forma further vehicle.

These and other aspects of the invention are evident in the text thatfollows and in the drawings.

Other aspects of the invention provide guideways, guideway modules, andvehicles for use thereon, constructed and/or operated as discussedabove. Still other aspects of the invention provide methods of operatingtransport systems, guideways, guideway modules, and vehicles for usethereon paralleling the foregoing.

BRIEF DESCRIPTION OF DRAWINGS

A more complete understanding of the invention may be attained byreference to the drawings, in which:

FIG. 1 depicts a system according to the invention, including a straightguideway and vehicles propelled thereon by an LSM in close proximitywhile sliding on a low friction guideway surface and guided by rails onthe side of the guideway.

FIG. 2 shows details of a vehicle according to one practice of theinvention used to hold objects for moving on the guideway in FIG. 1.

FIG. 3 shows vehicle guidance mechanisms and magnet array in a systemaccording to one practice of the invention.

FIG. 4 is similar to FIG. 3 but with a Halbach Array for the magnets.

FIG. 5 is similar to FIG. 3 but with a single magnet used forpropulsion.

FIG. 6 shows a guideway according to one practice of the invention,including a printed circuit board, with propulsion coils mounted on it,in close proximity to the guideway surface, and connected to powercontrol circuitry on the circuit board.

FIG. 7 shows a typical waveform of current in a coil as a vehicle movesby in a system according to one practice of the invention.

FIG. 8 shows vehicles negotiating a sharp 90° horizontal turn in asystem according to one practice of the invention.

FIG. 9 shows vehicles negotiating a sharp 180° vertical turn in a systemaccording to one practice of the invention.

FIG. 10 shows a right diverge in a system according to one practice ofthe invention with vehicle direction determined by the position of asmall flipper.

FIG. 11 shows a turntable which can be used in a system according to onepractice of the invention in lieu of a curve to effect diverge and mergeoperations.

FIG. 12 shows propulsion coils providing continuous force on vehiclesmoving on a right diverge module of a system according to the invention.

FIG. 13 shows a vertical transition in a system according to onepractice of the invention.

FIG. 14 shows an example of a system according to the invention.

FIGS. 15-16 shows a guideway and vehicle in a system according to onepractice of the invention.

FIG. 17 is a perspective view of a straight-away section of a guidewayin a system according to one practice of the invention.

FIG. 18 is a perspective view of a right-diverge section of a guidewayin a system according to one practice of the invention.

FIGS. 19A-19D show alternate configurations of sections of a guideway ina system according to one practice of the invention.

FIGS. 20A-20B show a top view of a right-diverge section of a guidewayin a system according to one practice of the invention.

FIG. 21 is a cut-away perspective view of a right-diverge section of aguideway in a system according to one practice of the invention.

FIG. 22A is a perspective view of a diverge section of a guideway in asystem according to one practice of the invention.

FIG. 22B is a perspective view of a flipper used in the diverge sectionof a system according to one practice of the invention.

FIG. 23A depicts motion of a vehicle on a straightaway in a systemaccording to one practice of the invention.

FIG. 23B depicts motion of a vehicle on a curve in a system according toone practice of the invention.

FIGS. 24A-24B depict motion of a vehicle at a diverge in a systemaccording to one practice of the invention.

FIGS. 25A-25B and 26A-26B depict further configurations of vehicles inaccord with the invention.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENT

Introduction

Described here is an LSM-based transport system that allows vehicles tomove on a guideway that can be complex and that can include sharphorizontal and vertical turns, merge and diverge switching, and invertedoperation. Examples of applications include: moving bottles on anassembly line while they are being filled and capped, moving vials in alaboratory for analysis, moving electronic devices along a production,line so that robots can insert components, and sorting objects thatarrive from a multiplicity of sources and must be delivered toappropriate locations. In some cases it is feasible to use wheels,bearing or other rolling elements to assist in suspension and guidance,but this invention can also be used in cases where there are no wheels(or other rolling elements) and the vehicles slide on a guideway'srunning surface. Wheel-less vehicles can be small and inexpensive whenthe objects to be moved are not too large. For heavier vehicles the sameshort block design is suitable for wheel- or bearing-based suspensionand guidance.

The result is a transport system that provides an economically viablemeans of using LSM propulsion to propel and control closely spaced smallto medium size vehicles on a guideway.

Among other aspects of the systems described herein are LSM motormodules that also function as the transport system track for “guideway”)pieces. A selection of standard track building blocks fit together in aplug-and-play manner to form an almost endless variety of layoutoptions. The motor modules (or “motors”, for short) can contain not onlythe propulsion and intelligent routing elements, but also the guidanceand structural support features to allow for rapid assembly and trackconfiguration. The system is ideally suited, by way of non-limitingexample, for environments requiring clean operation and/or wash downcapability. It can also support “track and trace” requirements, as eachvehicle can be uniquely identified and constantly tracked throughout thesystem.

A suspension system with a coefficient of friction obtainable withsliding motion can beneficially be used with an LSM with negligibleattractive force. This is achieved, in the illustrated embodiment, byusing a careless motor with propulsion coils mounted, e.g., in closeproximity to the vehicle magnets.

The text that follows describes components and operation of embodimentsof the invention. It is understood that many variations on this designare possible and are contemplated by the invention, but this descriptionshows how to achieve the foregoing and other objectives with a simplesystem that can be manufactured at a reasonable cost.

Guideway

FIG. 1 shows a straight section of guideway with vehicles 13 moving inclose proximity. The structure of the guideway can provide guidance inone or more dimensions by rails 12 on the side. For applications wherethe vehicle does not have wheels they slide on the guideway's runningsurface and special materials (discussed below) are used to minimizefriction. The guideway housing 11 contains all of the electronicsincluding position sensing means, propulsion coils, power electroniccomponents, and microprocessors.

The design shown in these Figures is based on vehicles that are about 50mm wide and 50 to 60 mm long. For larger objects the guideway andvehicle dimensions can be scaled, much as model railroads have beenconstructed with a variety of scaling factors.

Vehicle

FIGS. 2 and 3 show a vehicle 21 that can be used as part of the proposedtransport system. It is relatively small, about 50 mm square and 20 mmhigh, and has components 32 (here, disposed on the lower surface ofvehicle 21) with running (or “sliding”) surfaces that slide on therunning (or “sliding”) surface of the guideway. Holes 22 in the top ofthe vehicle are used to mount support mechanisms for the objects thatare to be moved.

The vehicle has curved sides 23 that match the sides of a curvedguideway so as to allow short radius horizontal turns. It is guided bythe guideway and can move in a normal upright position when transportingan object as well as moving in an inverted position when not carrying anobject. It can also negotiate vertical turns. Pins 24, 31 in the cornersof the vehicle interact with mechanisms in the diverge and modules so asto control the direction of motion.

FIG. 3 is a view of the lower surface of the vehicle and shows thepermanent magnets 33, 34 that are mounted near the bottom of the vehicleand provide the means for LSM propulsion.

FIG. 4 shows a variation of FIG. 3 in which a Halbach Array 44 is usedfor the magnet structure so as to create higher force for a givenweight. FIG. 5 shows a single magnet structure 51 that is suitable forapplications where less force is required.

Larger objects can be moved on this same guideway by using adouble-bogey design, as has been used with conventional LSM designs(see, for example, U.S. Pat. No. 7,458,454, entitled “Three-dimensionalMotion Using Single-Pathway Based Actuators,” issued Dec. 2, 2008, andU.S. Patent Application 2007/0044676, entitled “Guideway ActivatedMagnetic Switching of Vehicles,” published Mar. 1, 2007, the teachingsof both of which are incorporated herein by reference), or by increasingthe dimensions of guideway and vehicles.

Low Friction Sliding Surface

In order to reduce the required propulsive force and heating fromfriction, the vehicle and guideway of the illustrated embodiment aredesigned to minimize the coefficient of friction c_(f), which is theratio of the propulsive force needed to move the vehicle to thegravitational force of the vehicle on the guideway. In some cases wheelscan be used as a way to reduce this force, but this invention allows theuse of wheel-less vehicles. FIG. 6 shows the guideway with low frictionrunning (or “sliding”) surface 63 that supports vehicles in closeproximity to the propulsion coils 64.

Examples of low friction for wheel-less applications include Teflonsliding on Teflon and Teflon sliding on stainless steel. Lower frictionis possible if the surface can be lubricated by a thin film, but formany applications this is not allowable so the design assumes nolubrication. It is also preferable that the surface have good wearcharacteristics so, for example, we might use stainless steel on theguideway and Teflon on the vehicle with the expectation that there wouldbe negligible wear on the steel but the vehicle might eventually need tohave its sliding surface replaced, an action that is less expensive thanreplacing the guideway. Sliders 32 in FIG. 3 are examples of how lowfriction components can be mounted. They may be designed so as to bereplaceable if it is expected that they will wear out before the vehiclereaches end of life.

With some designs c_(f) can be as low a 0.1 but more practical valuesare in the range 0.15 to 0.2. Because this is a relatively high value itis preferred that the propulsive force not create substantial downwardthree on the vehicle. A typical LSM using ferromagnetic material willexert an attractive force that is four to six times the propulsive forceand with this much attractive force the vehicle may not be able to move,or if it did move there would be substantial heating and power wasted—insuch instances, wheels, bearings or other rolling elements can beincorporated for suspension of the vehicles.

Magnet Array

There are many types of magnet arrays that can be used, one of which isshown in FIG. 3. With this design there is one middle magnet 33 that hasthe South pole on the lower surface and two half magnets 34 on the endsthat have a North Pole on the lower surface. Typically the magnets useNdFeB in order achieve high fields but they can use other materials,such as ceramic when cost or external fields must be low or SamariumCobalt when the operating temperature is high.

One design consideration is the interaction between magnets on adjacentvehicles. The ferromagnetic piece 35 largely prevents magnetic fieldsfrom adjacent vehicles from interfering with each other.

FIG. 4 shows a Halbach Array which can be used where higher force isrequired and the added cost is acceptable. With this design the magneticfield rotates from one magnet to the next with a resulting higherpropulsive force than is possible with the magnet design in FIG. 3.Ferromagnetic shield 43 minimizes interactions between the fields ofadjacent vehicles.

FIG. 5 shows a single magnet providing all of the magnetic flux withferromagnetic material on the ends used to provide a return path. Thismay not produce as much force but can be less expensive thanmulti-magnet designs.

Linear Motor Propulsion

FIG. 6 shows coils 64 mounted in close proximity to the guideway runningsurface 63. Currents in these coils are individually controlled viapower electronic components and microprocessors so that each vehicle canbe individually controlled even when it is touching neighboringvehicles.

A feature of the illustrated embodiment is the lack of ferromagneticmaterial that is commonly used in an LSM to make it more efficient. Withno ferromagnetic material we can not achieve as high a force, but we canlimit the attractive force to a small fraction of the propulsive forceand thereby allow strong acceleration and braking forces to move thevehicle when the coefficient of friction is on the order of 0.2 orhigher.

In embodiments that use wheel-based vehicles the friction force may besmall enough that some ferromagnetic material can be used in the statorso as to achieve higher propulsive force.

Software for controlling the microprocessors can be similar to controlsoftware used on LSM designs with blocks that are several coils long.Here, however, position sensing components are located close enoughtogether that they can identify individual vehicles even when thevehicles are touching. Such sensing facilitates control of the movementof the vehicles independently of one another on the guideway. Priordemonstrations of locally commutated LSMs have shown that this softwaredoes not require special features.

PC Board Mounted Coils and Control Circuitry

The illustrated embodiment permits the control of each coil individuallywithout the cost associated with conventional designs. With reference toFIG. 6, there is shown an embodiment in which the coils 62 are mounteddirectly on a Printed Circuit Board (PCB) 64. This board supports thecoils and provides connections between the coils and the powerelectronic modules that control the current. Typically each coil isconnected to the output of an “H-bridge” with MOSFET or IGBT devicesused to control the amount and direction of current in each coil. Thesecomponents are mounted on the same PCB. The PCB also holds Hall Effectdevices that sense the magnetic field produced by the vehicle and allowa microprocessor to create a desired force. FIG. 7 shows a typicalwaveform of the current in a propulsion coil that will propel a vehicleas it moves by the coil. By proper choice of waveform several propulsioncoils can work in unison to create a constant force on the vehicle withminimum power loss in the coil. For braking the sign of the current isreversed.

By mounting the coils directly on a PC board and by using integratedpower controllers it is possible to reduce the cost for the coils andelectronics. One microprocessor can control a multiplicity of H-bridgesbut with a coil spacing on the order of 16 mm there can be more than adozen microprocessors per meter of motor, and the operation of thesemotor controllers must be coordinated by a higher level “node”controller. With modern semiconductor technology, and for low tomoderate power levels, all of these components can be mounted on onlyone or two PCBs that are contained in the motor housing.

Guideway Modules

The guideway is built of modules much as a model train layout isconstructed from modules. FIGS. 6, 8-11 and 13 show examples of astraight section, a 90° horizontal curve, a 180° vertical curve, a rightdiverge switch, a turntable, and a vertical transition. These componentscan be interconnected in a variety of ways to meet the requirements ofmany and diverse applications.

The 180° vertical curve in FIG. 9 is primarily used as a means to returnempty vehicles to a starting point and vehicles negotiating this curvemay be controlled and propelled by other means than an LSM. For example,vehicles going down may be propelled by gravity and vehicles going upmay be propelled by interaction with a mechanical mechanisms and in bothcases there may not be precise control during the curve transition. Itis preferable that once the vehicles have negotiated this curve precisecontrol is regained. In some cases there is a vertical, curve with amuch larger curve radius, such as used as a transition between a levelguideway and an inclined guideway. (See, for example, FIG. 13). In thiscase LSM propulsion can be used for the vertical curve and therebyretain precise control through the curve.

FIG. 10 shows a right diverge using a small mechanical or magneticflipper 101 that directs a moving vehicle to go either straight ahead ordiverge to the right. The flipper is controlled by a linear or rotaryactuator that interacts with pins 102 on the vehicle to steer thevehicle in the correct direction. The same device can be used to mergetwo streams of vehicles. The flipper is small and light so it can movefrom one position to another in a small fraction of a second and therebyallow high throughput with adjacent vehicles able to be switchedindependently. A left diverge can be constructed as a mirror image ofthe right diverge.

FIG. 11 shows a turntable 111 as an alternative to the flipper. Guidancerails 112 on the turntable and propulsion coils, not shown, guide andpropel the vehicle. The turntable in FIG. 11 can rotate in 90°increments, but other designs can support motion for a variety ofangles. The turntable tends to be slower than the flipper because of theadded mass, but is less expensive for some applications and has greaterversatility because it can be used in lieu of curves as well as toreverse vehicle direction and switch between a multiplicity of tracks.

FIG. 13 depicts a vertical transition 130. In the illustratedembodiment, this includes a concave transition piece 132, straightsections 134 and a convex transition piece 136, coupled as shown. Theillustrated transition is 10° along the vertical axis, though, in otherembodiments greater or lesser angles may be employed. Although the angleof the vertical transition shown here is established by transitionpieces 132, 136, in other embodiments the transition may be defined byother pieces (e.g., incorporated into diverges, straight-sections, andso forth).

The switching function can also be provided by magnetic threes acting onthe vehicle. For example, coils on and near the guideway can becontrolled so as to create lateral forces that will perform theswitching function. This approach to switching is described in U.S.Patent Application US 2007/0044676, entitled “Guideway ActivatedMagnetic Switching of Vehicles,” the teachings of which are incorporatedherein by reference.

FIG. 12 shows a cutaway view of a guideway diverge module showingpropulsion coils for propelling vehicles on either of two paths. Thiscontinuous propulsion through a diverge or merge is essential toproviding precise position control at all times.

A further appreciation of techniques for packaging the linear motor andother module components of the guideway modules may be attained byreference to U.S. Pat. No. 6,578,495, entitled “Modular Linear MotorTracks and Methods of Fabricating Same,” assigned to the assigneehereof, the teachings of which are incorporated herein by reference.

Application Example

There are many possible applications but the simple layout in FIG. 14shows how the guideway modules can be interconnected. Vehicles movearound the main loop but can move though a bypass when desired. Typicalapplications will use many more guideway modules than in this simpleexample.

Additional Embodiments

As evident in FIGS. 1-14, in some embodiments the running or slidingsurface of the guideway comprises an upper surface of the guidewayimmediately adjacent the propulsion coils, for example, as indicated bysurface 63 and coils 64 of FIG. 6 and discussed above. In otherembodiments, such a running or sliding surface can be anotherupper-facing (or vehicle-contacting) surface of the guideway forexample, a surface of a rail, ledge, recess, or flange of the guideway.That surface can be immediately adjacent to the coils 64 or offsettherefrom.

This is shown, for example, in FIG. 15, wherein surfaces 63A, which areoffset from the coils by a distance Δ provide low friction running (or“sliding”) surfaces that support the vehicle 13. The two surfaces 63Aare shown in the drawing, other embodiments may incorporate fewer orgreater such surfaces in (or out) of combination with other surfaces,such as surface 63 of FIG. 62. This is shown, for example, in FIG. 16.In the embodiments of FIGS. 15 and 16, running surfaces 63A of theguideway form part of guidance rails 12, though, in other embodimentsthese may comprise separate structures of the guideway (or otherwise).

Likewise, as also evident in FIGS. 1-14, in some embodiments the runningor sliding surfaces of vehicles 13 can be provided by sliders 32 orother components of the vehicles), for example, as indicated by FIG. 3and discussed above. In other embodiments, such running or “sliding”surfaces can be other downward-facing (or guideway-contacting) surfacesof the vehicles—for example, surfaces of rails, ledges, recesses, orflanges of the vehicles. This too is shown, for example, in FIG. 15,wherein surfaces 32A provide low friction running (or “sliding”)surfaces that slide on the running or sliding surface of the guideway,here, surfaces 63A.

In embodiments such as those shown in FIG. 15, as well as in otherembodiments of the invention, the sliding surfaces 32A, 63A, and soforth, are sized and otherwise designed to minimize the coefficient offriction c_(f), as discussed above, as well as to provide adequatesupport for the vehicles 13 under expected operating conditions.

A further appreciation of the embodiments shown in FIGS. 15-16 may beattained by reference to FIG. 17, which is a perspective view of astraight-away section of a guideway of such embodiments; FIG. 18, whichis a perspective view of a right-diverge section of a guideway of suchembodiments; FIGS. 19A-19D, which are perspective views ofstraight-away, left-diverge, vertical turn, and curve sections of aguideway of a such embodiments.

In regard to FIG. 18 and other sections that support a merge or divergefunction, the running services 63A of rails 12 can be broadened and/ornarrowed, e.g., as shown in the drawing, in order to provide greater aguidance or channeling function.

As evident in the discussion above and shown in the drawings, switchingcan be effected via turntables, as well as by the use of mechanicalflippers or magnetic switching members acting at or near merge ordiverge regions of the guideway. Guideway configurations utilizing thelatter are more fully detailed in FIGS. 20A-20B and 21 and discussedbelow. Though only diverge sections are shown in those drawings, it willbe appreciated that flipper and switch arrangements as shown herein canbe employed with other guideway modules and/or configurations, as well.

Referring to FIGS. 20A and 20B, there is shown a diverge or switchingregion of a guideway according to one practice of the invention. Theillustrated diverge region 200, which may comprise one or more modulesof the type described above (albeit configured and operated as discussedhere), comprises an ingress path 250 and two or more egress paths, here,egresses 260L and 260R, as shown. A switching member, e.g., flipper 201,is disposed along a lateral (or outside) portion 270 of the guidewayregion 200 and, indeed, can be disposed within a lateral (or side) rail270 of the guideway, as shown. In other embodiments, the switchingmember 201 may be disposed on a medial portion of the guideway 275,e.g., at or closer to a centerline 280 of travel of vehicles movingthereon, or otherwise. Regardless, the flipper 201 (or other switchingmember) is preferably disposed along the guideway at a location at ornear a point where the egresses diverge from one another (e.g., thebranch-point or crotch of the diverge).

The switching member 201 comprises a ferromagnetic material suitable foreffecting magnetic attraction between the member 201 and a passingvehicle—i.e., a vehicle that is moving on the guideway in vicinity ofthe member 201 (e.g., near the branch-point of the diverge)—e.g., in adirection transverse to the vehicle's direction of motion along theguideway and, thereby, selectively altering the course of the passingvehicle. In the illustrated embodiment, such attraction is particularlyeffected between the member 201 and a permanent magnet disposed on sucha vehicles, though, in other embodiments, attraction may be to othermagnetic elements on the vehicle. Illustrated switching member (here,flipper 201.) is shaped as a flat, rectilinear member, though, in otherembodiments it may be shaped otherwise.

Referring to FIGS. 20A and 20B, an actuator 300 is coupled (e.g., viarod 301 or otherwise) to the switching member 201 in order to

-   -   place the switching member in a first position (and, more        generally, in a first configuration), whereby the switching        member exerts a greater lateral magnetic attractive force on the        passing vehicle and, thereby, causes it to exit the diverge        region 200 via one of the egresses,    -   place the switching member in a second position (and, more        generally; in a second configuration), whereby the switching        member exerts a lesser lateral magnetic attractive force on the        passing vehicle and, thereby, causes it to exit the diverge        region 200 via another of the egresses (e.g., the straightaway        egress),    -   move the switching member 201 between the first and second        positions (or configurations).

The actuator may comprise a servo, solenoid, lever, spring, motor, orother mechanism (or combination thereof) of the type known in the artsuitable for so placing and moving the switching member. The actuatormay operate under control of a microprocessor or other control device(not shown) of the conventional type known in the art (as adapted inaccord with the teachings hereof) to route the passing vehicle passingthrough diverge region.

With reference to FIG. 20A, the actuator 300 is shown positioningflipper 201 in the first configuration—here, pivoted on a fixed end 201A(e.g., on pin or other pivot member) such that a free end 2018 isrotated into a first rotational position—in order to effect passage ofthe vehicle (here, represented by arrow 220) to egress 260R. Withreference to FIG. 208, the actuator 300 positions flipper 201 in thesecond configuration here, pivoted on fixed end 201 such that a free end2018 is rotated into a second rotational position—in order to effectpassage of the vehicle (here, represented by arrow 221) to egress 260L.

As evident in these drawings, the first and second configurations of theillustrated embodiment represent differing rotational positions of theflipper 201 that place the free end 2018 closer (in the case of FIG.20A) and further (in the case of FIG. 208) to the passing vehicle andwhich, thereby, effects differing attractive forces on it. In otherembodiments, other configurations may be utilized instead or inaddition. By way of example, the free and fixed ends of the flipper 201of may be reversed (e.g., from that shown in the drawing). By way offurther example, the actuator may be coupled with the flipper (or otherswitching member) so that the entire member 201 (as opposed to merely afree end) is disposed closer to vehicle in the first configuration andfurther in the second configuration. By way of still further example,the flipper or other member may be flexible and the actuator may bedisposed so as to cause it to bend so that portions of it are closer tothe vehicle in the first configuration and to bend further from thevehicle in the second configuration. These and other alternatives willbe evident to those of ordinary sill in the art in view of the teachingshereof.

Though only a single moveable switching member 201 is shown in thedrawings and described above, it will be appreciated that another suchmember may be provided, as well. This may be, for example, a moveableswitching member that is like member 201, but that is disposed along alateral portion of the guideway region 200 opposite member 201 (alongthe guideway at a location at or near the branch-point or crotch of thediverge) and that moves in cooperation with illustrated member 201 tofacilitate routing the passing vehicle to the first or second egresses.

Alternatively, the further member may be a non-moveable (or fixed)member—such as a permanent magnet or other ferromagnetic element—thateffects a magnetic attraction force on the passing vehicle sufficient tobias it toward a one of the egresses, thereby, insuring routing of thevehicle to that egress, when the switching member 201 is not positioned(by the actuator 300) to effect routing to the another egress. Such afixed element may be disposed along a lateral portion of the guidewayregion 200 opposite illustrated switching member 201 or otherwise (e.g.,on a medial portion of the guideway). As with moveable member 201, thenon-moving member disposed along the guideway at a location at or nearthe branch-point or crotch of the diverge, and it may be shaped as aflat, rectilinear member—or otherwise.

Further appreciation of the exemplary switching embodiment discussedabove can be attained by reference to FIG. 21, which is a cut-awayperspective view of a right-diverge section 200 of a guideway similar tothat shown in FIG. 18. Portions of the guidance rails 12 and thesurfaces 63A are not shown in FIG. 21 so that the flipper 201 andfixed-plate non-moveable member 202 of the type discussed above can beseen. As illustrated, the flipper 201 is disposed in a gap 210 betweenopposed portions of the guidance rails 12.

A further appreciation of the embodiments discussed above may beattained by the following remarks:

-   -   The operation of illustrated diverge region 200 depends on the        attraction forces between permanent magnet on the vehicle and        the ferromagnetic plates on the side of the guideway. The        magnets one the vehicle are primarily used to produce a field        below the vehicle for propulsion, but there is a strong enough        field on the side of the vehicle to create enough force for        controlling the vehicle direction. If desired, additional        magnets could be added solely to facilitate switching.    -   As discussed above, FIG. 21 shows a small fixed plate 202 on the        side of the straight side of the diverge 200 and a movable plate        201 on the diverge side. If it is desired that the vehicle go        straight, the movable plate 201 can be positioned several        millimeters from the edge of the guideway so there is not much        force tending to pull the vehicle into the diverge. In this case        the plate 202 on the straight side ensures that the vehicle goes        straight. If it is desired that the vehicle diverge, than the        movable plate 201 can be positioned in close proximity to the        edge of the guideway and, because the movable plate 201 is        larger than the fixed plate 202, there is a net force pulling        the vehicle into the diverge path. As the vehicle begins to        diverge, the differential force increases and becomes large        enough to counter the centrifugal, force of the turning vehicle.    -   There are several ways in which the movable plate 201 can be        controlled. For example, it can be attached to a pivot and        driven by a rotary motor, or it can be moved laterally by        magnetically based forces.    -   In some embodiments, the switching function is provided by        magnetic forces applied to a vehicle traveling on the guideway.        The magnetic forces can be used to control the direction of a        vehicle at a diverge region of the guideway or at a merge region        of a guideway. For example, one or more switching members, e.g.,        a flipper, can be disposed on the guideway. The one or more        switching members can be configured so that when at least one of        the one or more switching members is activated, e.g., by moving,        a magnetic flux between the at least one of the one or more        switching members and a magnetic flux source on the vehicle is        changed. For example, the switching member can move by pivoting,        translating, bending, or any combination thereof.    -   The magnetic flux source on the vehicle can include permanent        magnets or electromagnets. The magnetic flux source used for        switching can also be used to provide the means for LSM        propulsion. However, the vehicle can also include additional and        separate permanent magnets or electromagnets configured to        provide a magnetic flux source separate from any magnetic flux        source used for propulsion.

Discussed above are diverge regions that utilize magnetic switchingmembers acting at or near merge or diverge regions of the guideway. Itwill be appreciated that the illustrated embodiment is just an exampleof transport systems and modules providing such regions. Thus, forexample, though the moveable and fixed switching members referred tohere effect magnetic attraction with a vehicle in the vicinity thereofon the guideway, in other embodiments, one or more of the switchingmembers may rely on magnetic repulsion instead. And, though theillustrated diverge region has straight and branched egresses, divergeregions of other embodiments may be of different configuration. Forexample, the diverge region may be Y-shaped. Moreover, it may have(instead or in addition) additional egresses.

Recap

Discussed above and as evident in FIGS. 15-48 and 21 and discussed inconnection therewith, the running or sliding surface of the guideway canbe offset from coils 64, as well as from a surface 63 adjacent thereto.Such is the case, for example, with respect to low friction runningsurfaces 63A, e.g, comprising ledge or flange portions of guidance rails12, shown in the embodiments of those drawings and discussed above.

Running surfaces that form part of the vehicle 13 run or slide overthose guideway surfaces and, more particularly, in the case of theembodiments illustrated in those drawings, those surfaces on the rails12. As discussed elsewhere herein, those running surfaces on the vehiclemay include sliders or other components (e.g., wheels, bearings or otherrolling elements) that facilitate their movement over the surfaces 63A.

With further attention to FIGS. 15-48 it can be seen that those runningsurfaces (of the vehicle) are disposed within—and, indeed, in theillustrated embodiment form part of—recesses on the body of the vehicle.This may be a groove of the type in which rails 12 are shown disposed inFIG. 15 or a deeper recess of the type in which such rails are shown inFIG. 16, all by way of example. That recess (whether a groove orotherwise) defines a narrowed portion of the body of vehicle 16 whichmay be referred to as “septum.” In the embodiment of FIGS. 15 and 16,the septum 13D is the portion of the vehicle that couples the uppersection with running surfaces and load (e.g., an article being carriedby the vehicle) to the lower section with guidance surfaces 13B and themagnet array that provides propulsion; though, other embodiments mayvary in this regard.

Referring to FIG. 15 (which shows a lateral cross-section of a vehicle13 and guideway), septum 13D can be sized somewhat smaller in thelateral dimension than (i) the portion of the body vehicle 13 thatresides within the guideway, and/or (ii) the portion of the body vehicle13 that resides outside the guideway. By comparison, referring to FIG.16 (which, too, shows a lateral cross-section of a vehicle 13 andguideway), such a septum 13D can be sized substantially smaller in thelateral dimension than (i) the portion of the body vehicle 13 thatresides within the guideway, and/or (ii) the portion of the body vehicle13 that resides outside the guideway.

In addition to running surfaces 63A (which support the vehicles andalong which they slide or roll), rails 12 of the guideways shown inFIGS. 15-18 and 21 can have guidance surfaces 63B that constrain motionof the vehicles laterally. (Such guidance surfaces need not be includedin embodiments such as shown in FIG. 10, since the pins 24, 31 can servea guidance function, as well). In the illustrated embodiment, theguidance surfaces are substantially normal to the running surfaces,though, some embodiments may vary in this regard.

One or more of these guidance surfaces can be disposed with sufficientclearance from the vehicles' corresponding surfaces 13B on the body (asopposed to the septum) of the vehicle as to permit the vehiclesgenerally to move without contacting those surfaces 63B, yet, to provideguidance if and as need arises to keep the vehicles on the guideway,e.g., during merge/diverge operations, in the event of uneven vehicleloading, wind gusts, and so forth. Alternatively, one or more of theguidance surfaces 63B can be disposed so as to be in substantiallyconstant contact with corresponding surfaces 13B of the vehicles 13traveling on the guideways and, thereby, so as to provide substantiallyconstant guidance.

To all of these ends and the foregoing, the surfaces 63B can be slidingsurfaces that minimize the coefficient of friction, c.f., with surfaces13B of the vehicle—which surfaces 13B, themselves, may be low-frictionsurfaces and/or may include sliders or other components (e.g., wheels,bearings or other rolling elements) that facilitate their movement overthe surfaces 63B.

A guideway according to the invention may incorporate merge and/ordiverge regions to alter the course of passing vehicles. One suchguideway is shown in FIG. 10 for use with vehicles, e.g., of the typeshown in FIGS. 2, 3, having pins 24, 31 extending from corners thereofnear where the running surfaces that form part of the vehicle 13 run orslide along running surfaces of the guideway. Those pins interact with aflipper 101 disposed hear one of the rails, as well as with thecorresponding section 101 a of the opposing rail, to control directionof motion in a diverge of the type shown in FIG. 10. (In someembodiments, extensions other than pins may be used for the samepurpose.) As noted there, the flipper 101, which may be mechanical ormagnetic and which may be controlled by a linear or rotary actuator,interacts with pins 102 on the vehicle to steer the vehicle in thecorrect direction. As further noted, the same mechanism can be used tomerge two streams of vehicles.

Further such merge/diverge regions are shown in FIG. 18, 19B, and 21 foruse with vehicles of the type shown in FIG. 16 having a narrower septum.As evident, those merge/diverge regions have running surfaces 63A thatbroaden (e.g., as indicated by regions 1802) and narrow (e.g., asindicated by regions 1804) to provide (e.g., in the case of broadenedregions) greater guidance or channeling of the vehicle. A ferromagneticflipper 201 for use in these configurations is shown, by way of examplein FIG. 20 and described in the accompanying text. As noted above, it iscoupled to a servo-, solenoid-, lever-, spring-, motor- orotherwise-controlled actuator that places the flipper 201 in first orsecond configurations whereby it exerts greater or lesser lateralmagnetic attractive forces on the passing vehicle and that, thereby,determines its direction—that is, for example, whether it travels fromthe ingress pathway of a diverge region to a first egress of that regionor, alternatively, whether it is diverted to a second egress of thatregion.

In the illustrated embodiment, the direction of motion of a vehicle atingress is substantially the same as that of a vehicle at the firstegress and, hence, the motion to that egress from the ingress isconsidered “straightaway” motion for purposes hereof. Conversely, thedirection of motion of a vehicle at the second egress is at an anglevis-a-vis that of a vehicle at the ingress and, hence, the motion tothat egress from the ingress is considered diverted, or switched. Otherembodiments may vary in these regards, e.g., such that the directions ofmotion of vehicles at both egresses are at angles vis-a-vis vehicles atthe ingress.

In operation, flipper 201 exerts a laterally-directed attractive forceon a passing vehicle 13, e.g., of the type shown in FIG. 16, to initiateswitching (e.g., to the second egress of a diverge). Referring also toFIGS. 16 and 18, once the switching is started, the septum 13D of thevehicle contacts and engages one side of the illustratedtriangular-shaped portion 275 formed in the running surfaces 63A whichsupports and guides the vehicle 13 as it continues the switching action,(Although the portion is shown as triangularly-shaped in the illustratedembodiment, the shape of that extension of the running surfaces at the“vertex” 278 of the diverge can be varied according to the radius ofcurvature of the diverge section and the size of the septums of vehiclesbeing switched.) Further guidance for switching can subsequently beprovided by the guidance surface 63B if and as it comes into contactwith corresponding surfaces 13B of the vehicle.

Further Embodiments

Further embodiments of the invention provide, individually and/or incombination, variants of mechanical flippers of the general type shownin FIG. 10; narrow-septum vehicles of the type shown in FIG. 16 orvariants thereof; and/or guideways of the type shown in FIGS. 15-18 and21 or variants thereof. When used in combination, these embodiments takeadvantage of the narrowed cross-section of the vehicle's septum by usinga smaller (and, therefore, faster) switch to initiate vehicle switching.

One such embodiment is depicted in FIG. 22A, depicting a diverge module220 that utilizes a small flipper 222 to push a vehicle 13, e.g., of thetype shown in FIG. 16, in a lateral direction to initiate switching. Inthe illustrated embodiment, the flipper initiates switching by pushing asurface 13B not on the septum 13 but, rather, on one of the largercross-section regions of the vehicle body; other embodiments may vary inthis regard, e.g., by pushing a surface of the septum to initiateswitching. Regardless, once the switching is started, the septum of thevehicle engages one side of the extension 275 as it more fully entersinto the diverge. Further guidance for switching can subsequently beprovided by the guidance surface 63B if and as it comes into contactwith corresponding surfaces 13B of the vehicle. The module 220 can alsoinclude a non moveable member 202 of the type discussed above, here, asteel plate creates an attractive force that helps guide a vehicle thatis not switching.

The module 220 can be utilized for switching vehicles 13 on a guidewayused in small parts inspection and/or assembly operations, or otherwise,where vehicle speeds are high and/or spacing is close thus,necessitating rapid movement of the flipper.

For small parts inspection and/or assembly, for example, such vehiclescan be, by way of non-limiting example, between 50 mm (or smaller) and200 mm for larger) wide—i.e., where width refers to dimensions of thevehicles along an axis transverse to a direction of motion along theguideway—and have a length that is one to two for more) times thatwidth—where length refers to dimensions of the vehicles along an axisparallel to a direction of motion along the guideway—and, in someembodiments, again, by way of nonlimiting example, are about 60 mmsquare. Such vehicles can, by way of further non-limiting example, haveloaded masses of between 0.2 kg (or lower) and 4 kg (or higher) and,typically, of up to about 2 kg for higher).

Regardless, such vehicles can operate on such guideways at speeds inexcess of 2 m/s. The vehicles can operate with headways of a smallfraction of a second and still be switched even when adjacent vehiclesmove in different directions. As a general matter, a flipper 222utilized in the aforementioned applications preferably has a mass andmoment of inertia that are small as possible in order to allow rapidswitching.

To this end, for small parts inspection and/or assembly, and withvehicles sized as described immediately above, a flipper 222, forexample, having a mass of about 20 g-60 g and, preferably, of about 40 g(not including rotating bearings) and a length of about 5 cm-10 cm and,preferably, of about 7.5 cm—all by way of non-limiting example—caninitiate switching by moving only a short distance, e.g., less thanabout 2 cm (or more)—again, by way of non-limiting example. Of course inother embodiments, the flipper 222 can be of other masses and/or lengthsand still effect similar or sufficiently rapid deployment and,therefore, switching depending on the speed and spacing of the vehicles13 on the guideway, the relative sizes (and geometry) of the septum, theextension, and so forth, all as will be appreciated by those skilled inthe art in view of the teachings hereof.

When actuated by a rotary stepper motor 224 of the type commerciallyavailable in the art, the tip of the flipper as described can traversethat distance (and, in any event can initiate switching) inapproximately 30 milliseconds, or less. This allows the module 220 to beused in applications where vehicle spacing is as short as 100milliseconds.

Such a flipper can also be shaped, by way of example, as shown in FIG.22B. As illustrated there, the flipper 222 includes an aperture 224 inwhich an axle 226 is disposed and about which flipper body pivots. Theflipper further includes a kidney-shaped aperture (or cut-out) 228 thatreceives a motor arm 230 for positioning the flipper, e.g., in deployed,partially-deployed and fully-deployed positions. Unlike moreconventional cut-outs that may be, for example, oval-shaped, thekidney-shape minimizes the motor torque required to move heavily loadedvehicles 13.

In the illustrated embodiment, the direction of motion of a vehicle atingress of the diverge shown in FIG. 22A is substantially the same asthat of a vehicle at the first (i.e., “unswitched”) egress, yet thedirection of motion of a vehicle at the second egress of that diverge isat an angle vis-a-vis that of a vehicle at the ingress. However, otherembodiments may vary in this regard. Hence, for example, the directionsof motion of vehicles at both egresses of the diverge can be at anglesvis-a-vis vehicles at the ingress, hence, requiring switching in twodifferent deployed directions (e.g., “left” and “right”). Those skilledin the art will appreciate that the teachings hereof apply as readily tosuch embodiments without departure from the spirit hereof and, thus, forexample, that a flipper 222 of the type described above can effectswitching on such embodiments, e.g., by rapid switching between to thosedifferent deployed positions (e.g., from a central “undeployed”position, or otherwise).

In some embodiments of the invention, the stepper motor 224 can includean encoder that senses and allows for precise control of the flipperposition. This permits placing the flipper 222 in not just twoconfigurations, but three or more configurations—e.g., a fully deployedconfiguration for diverting passing vehicles along a branch at adiverge, a partially deployed configuration for guiding passing vehiclesat a merge, and a retracted configuration for allowing vehicles tocontinue in a current, straight-away direction of motion at a diverge.This also permits optimizing (e.g., based on trial-and-error, dynamicscalculations or otherwise) flipper positions in each of theseconfigurations (and particularly, for example, in the fully- andpartially-deployed configurations) depending on vehicle speed and/ormass.

In view of the foregoing, it will be appreciated that, in embodiments ofthe invention that are used to switch vehicles that are tightly spacedand/or are moving rapidly, it can be helpful to size vehicle septum 13Das narrow as possible so that less flipper motion is required to effectswitching. Likewise, it can be helpful to keep the mass and moment ofinertia of the flipper as small as possible in order to allow rapidswitching.

FIGS. 23A-23B are a top view of a vehicle 13 and rails in the horizontalplane defined by dashed line 160 of FIG. 16. The vehicle shown here isof the type adapted for use with switching section 220 of FIG. 22A. Asshown in the drawing, the guidance surface 138 can include one or moreregions, e.g., 13B-1, for contacting the surface 63B of the guideway instraight-away sections (e.g., of the diverge section or elsewhere); andregions, e.g., 13B-2, for contacting the surface 63B (alone or incombination with regions 13B-1) in curved sections of the guideway(e.g., again, of the diverge section or elsewhere). Utilization of thoseregions 13B-1, 13B-1 and, particularly, contact between them andguidance surfaces 638, are illustrated in FIG. 23A (straightway) and 238(curve).

In the illustrated embodiment, the regions 13B-1 can be characterized asperipheral regions of the surface of vehicle adjacent to contacting orpotentially-contacting guidance surfaces 63B when the vehicle isdisposed on a straightway Those regions may be further characterized ashaving tangents that are parallel to tangents of those adjacent surfaces63B when the vehicle is so disposed. More simply put, the regions 13B-1are those that tend to contact surfaces 63B when the vehicles travelingdown a straightaway.

Conversely, in the illustrated embodiment, the regions 13B-2 can becharacterized as peripheral regions of the surface of vehicle adjacentto contacting or potentially-contacting guidance surfaces 63B when thevehicle is on a curve. Those regions may be further characterized ashaving tangents that are parallel to tangents of those adjacent surfaces63B when the vehicle is so disposed. More simply put, the regions 13B-2are those that tend to contact surfaces 63B when the vehicles travelingwithin a curved section of the guideway. With respect to the illustratedembodiment, those regions 13B-2 may be further characterized as curvedor rounded regions of the guidance surface 13B disposed near the leadingcorners of the vehicle (i.e., corners that lead the vehicle as it istraveling on the guideway).

As illustrated in FIGS. 24A-24B, the regions 13B-2 (like regions 13B-1)can also play a role in switching. Referring back to the discussion ofFIG. 22A, flipper 222 can push vehicle 13—and, particularly, a leadingcorner thereof, here, a region 13B-2—a short distance in a lateraldirection in order to initiate switching. See FIG. 24A. Once theswitching is started, the septum 13D of the vehicle engages one side ofthe extension 275 as it more fully enters into the branch of thediverge. See FIG. 24B. Further guidance for switching can subsequentlybe provided by the guidance surface 63B as it comes into contact withcorresponding surfaces 13B-2 (and 13B-1) of the vehicle.

Modules for merging vehicles on the guideway are generally constructedand operate in the manner of the switching sections discussed above andshown, for example, in FIG. 22A, albeit with the flippers 222 on one ormore of the multiple ingress pathways (as opposed to the single ingresspathway of a diverge section). Moreover, for a merge section, thoseflippers are only partially engaged, e.g, by a rotary stepper motor 224or otherwise. Thus, for example, if in a given guideway, a flipper 222of a diverge section is actuated such that its tip moves about 2 cm inorder to initiate a switching operation, a flipper 22 of a merge sectionof that same guideway may be actuated such that its tip moves on 0.5cm-1 cm at a merge. Such partial engagement (or “partially deployment”)improves vehicle (and system) performance at a merge, e.g., by allowingfor inherent variation in the lateral position of a merging vehiclewhile, at the same time, facilitating small adjustments in vehicle angleas it commences the merge.

Thus, in the illustrated embodiment, as a vehicle 13 enters a mergeregion and, particularly, as it enters a region at the ingress of amerge in which the running surfaces 63B begin to broaden, e.g., as inthe case of a transitional zone between regions 1804 and 1802 in FIG.18, the actuator 224 can partially deploy flipper 222 in order toslightly rotate the vehicle and improve its angle of entry into thatzone and, more generally, into the merge. As above, in the illustratedembodiment, the flipper effects this by pushing a surface 13B not on theseptum 13 but, rather, on one of the larger cross-section regions of thevehicle body and, more particularly, in some embodiments, on a region13B-2—other embodiments may vary in this regard, e.g., by pushingelsewhere on the surface of the vehicle body such as a region 13B-1, bypushing on the surface of the septum to initiate merging, and so forth.Moreover, as in the case of a flipper of the type described inconnection with FIGS. 20A, 20B, the flipper may effect such rotationmagnetically and/or other than via physical contact with the vehicle.

Regardless, once the merging is commenced, the broadening or broadenedrunning surfaces 63B of the guideway contact and/or engage the septum ofthe vehicle as it more fully enters into the merge, thereby, providingfurther guidance or channeling. Once the vehicle is on course and beginsexiting the merge region (at the egress), the running surface 63Bnarrows.

Still further, it will be appreciated that some modules can serve rolesas both diverge and merge regions, depending the direction of vehicletravel. Such modules can utilize flippers 222 as described above at eachof the ingresses/egresses, each selectively activated as described abovedepending on whether that ingress/egress is serving as the ingress of adiverge (or switching) operation or as an ingress of a merge operation.

As evident in the drawings, in some embodiments, the bodies of somevehicles 13 can generally be of rectangular cross-section (irrespective,for example, of septums 13D, pins or other extensions 24, 31, 102, andso forth) and can, moreover, include convex sides as shown for examplein FIGS. 23 and 24. Vehicles of other shapes can be used with guidewaysin accord herewith, as well.

Thus, for example two (or more) vehicles 13 of the type described aboveand shown in FIGS. 23-24 can be joined, e.g., by a platform 250, to forma single vehicle 252 of the type shown in FIG. 25A and, in an explodedview, in FIG. 25B. To facilitate movement around curves, corners andother regions of the guideway, one or more of the constituent vehicles13 can rotate with respect to the other and/or with respect to theplatform 250. In the illustrated embodiment, this is effected bycoupling the platform 250 to one or more of the constituent vehiclespivotably, e.g, via mounts 254 which may include bearings or otherwise.In other embodiments, it may be effected via use of an articulatedplatform 250 or otherwise. The vehicle 250 can be utilized as describedabove in connection with vehicles 13 discussed elsewhere herein.Advantages of vehicles as shown in FIG. 25 include, for example, thatthey can carry larger or more massive loads, can better navigate cornersor curves, and can used in more complex guideway maneuvers that call formoving the constituent vehicles differently with respect to one anotheron the guideway.

Vehicles of still other shapes can be used with guideways in accordherewith, as well. A further such example is the vehicle 260 shown inFIG. 26A and, in exploded view, in FIG. 26B. Rather than being of agenerally rectangular cross-section, the vehicle 260 may be generallydescribed as having a cross-section that is a pointed oval. Apart fromhaving a mass and relative length that may be greater than that of theother vehicles discussed herein, esp., in connection with FIGS. 1-24,the vehicle 260 can be constructed and utilized as described above inconnection with vehicles 13 (and, indeed, can be pivotably coupled withother such vehicles 13, 260 in a manner paralleling that discussed inconnection with FIG. 25). In accord with its larger cross-section, thevehicle 260 can incorporate larger (or a greater quantity of) permanentmagnets 33, 34 in its body (and, particularly, for example, that portionbelow the septum and closer to the guideway coils) to facilitate movingloads. Advantages of vehicles as shown in FIG. 26 include, for example,that they can carry larger or more massive loads.

Described above are systems, apparatus and method meeting the foregoingobjects, among others. It will be appreciated that the embodimentsillustrated and discussed herein are merely examples of the inventionand that other embodiments, incorporating changes thereto, fall withinthe scope of the invention. Thus, by way of non-limiting example, theinvention can be practiced with embodiment in which suspension isprovided by air-cushion and fluid-cushion, e.g., in addition to thewheel-less, wheeled, and other roller-based designs discussed above. Byway of further non-limiting example, flippers, septums, andtriangularly-shaped pieces 275 can be shaped differently than shown inthe drawings and discussed above. In view of the foregoing,

What we claim is:
 1. A transport system, comprising; A. a guidewayincluding a plurality of propulsion coils disposed along a region inwhich one or more vehicles are to be propelled, the guideway having oneor more running surfaces that support the vehicles and along which theyroll or slide, B. one or more vehicles disposed on the guideway, eachincluding a magnetic flux source, C. each vehicle having a septumportion that is coupled to one or more body portions of the vehicle,wherein the septum portion that is of narrowed cross-section, D. theguideway including a diverge region that comprises a flipper and thatcomprises an extension of the running surface at a vertex of thediverge, wherein the flipper initiates switching of vehicle directionthe diverge by exerting a laterally directed force on the vehicle, andwherein the extension continues the switching of vehicle direction atthe diverge by contacting the septum of the vehicle.
 2. The transportsystem of claim 1, wherein the flipper initiates switching of vehicledirection by contacting the vehicle along one or more outer surfaces ofthe body thereof.
 3. The transport system of claim 2, wherein theextension is triangularly shaped.
 4. The transport system of claim 1,wherein the guideway has one or more guidance surfaces that constrainmotion the vehicles laterally.
 5. The transport system of claim 4,wherein further guidance for switching of vehicle direction is providedby a portion of the guidance surface within the diverge region.
 6. Atransport system, comprising; A. a guideway including a plurality ofpropulsion coils disposed along a region in which one or more vehiclesare to be propelled, the guideway having one or more running surfacesthat support the vehicles and along which they roll or slide, theguideway further having one or more guidance surfaces that constrainmotion the vehicles laterally, B. one or more vehicles disposed on theguideway, each including a magnetic flux source, C. each vehicle havinga septum portion is coupled to one or more body portions of the vehicle,wherein the septum portion is of narrowed cross-section, and wherein oneor more of the body portions include one or more surfaces for contactingthe guidance surface of the guideway, D. the guideway including adiverge region that comprises a flipper, E. the flipper initiatingswitching of vehicle direction at a diverge region by exerting a lateralforce on the vehicle, and wherein an extension of the running surfacesat a vertex of the diverge region continues the switching of vehicledirection, and wherein further guidance for the switching of vehicledirection is provided by a portion of the guidance surface within thediverge region.
 7. The transport system of claim 6, wherein the flipperis mechanically actuated.
 8. The transport system of claim 7, whereinthe flipper is mechanically actuated by a rotary stepper motor thatincludes zero, one or more encoders.
 9. The transport system of claim 8,wherein an arm of the motor is received in a kidney-shaped aperture ofthe flipper.
 10. The transport system of claim 7, wherein the flipper isactuated into any of three positions: undeployed, deployed andpartially-deployed.
 11. The transport system of claim 6 arranged forsmall parts inspection and/or assembly, wherein A. the vehicles arebetween about 52 mm and about 200 mm wide, have lengths of between onean two times that width, and have loaded masses of between between about0.2 kg and about 4 kg, B. the vehicles move on the guideway at speeds inexcess of about 2 m/s, C. the flipper initiates switching of a vehicleby moving less than about 2 cm.
 12. The transport system of claim 6,wherein one or more of the vehicles has guidance surfaces that includeone or more first regions for contacting the guidance surface of theguideway at some portions of the guideway and include one or more secondregions for contacting the guidance surface of the guideway at otherportions of the guideway.
 13. The transport system of claim 12, whereinthe one or more first regions contact the guidance surface of theguideway in straight-aways, and wherein the one or more second regionscontact the guidance surface of the guideway in curves.
 14. Thetransport system of claim 12, wherein the flipper initiates switching ofvehicle direction at the diverge region by contacting one or more of thesecond regions.
 15. The transport system of claim 12, wherein one ormore of the second regions are curved.
 16. The transport system of claim12, wherein one or more of the first regions are peripheral regions ofthe vehicle having tangents that are parallel to tangents of those ofadjacent surfaces of the guideway when the vehicle is disposed on astraightaway.
 17. The transport system of claim 12, wherein one or moreof the second regions are peripheral regions of the vehicle havingtangents that are parallel to tangents of those of adjacent surfaces ofthe guideway when the vehicle is disposed on a curve.
 18. A transportsystem, comprising; A. a guideway including a plurality of propulsioncoils disposed along a region in which one or more vehicles are to bepropelled, the guideway having one or more running surfaces that supportthe vehicles and along which they roll or slide, B. one or more vehiclesdisposed on the guideway, each including a magnetic flux source, C.wherein one or more of the vehicles each has one or more pins extendingfrom the vehicle near where the vehicle rolls or slides along therunning surfaces of the guideway, D. the guideway including a divergeregion that comprises a flipper, E. wherein the one or more pinsinteract with the flipper to control direction of motion of the vehicleat the diverge region.
 19. The transport system of claim 18, wherein theone or more pins extend from corners of the vehicle.
 20. The transportsystem of claim 19, wherein A. the running surfaces of the guidewayinclude a first rail and a second rail, B. the flipper is disposedadjacent the first rail.
 21. The transport system of claim 20, whereinone or more of the pins interact with the flipper and with acorresponding section of the second rail in order to control a directionof motion of the vehicle at the diverge region.
 22. A transport systemaccording claim 18, comprising electronic power and control circuitrythat excites the propulsion coils independently so as to propel the oneor more vehicles along the guideway.
 23. The transport system of claim22, wherein one or more of the vehicles are slidingly disposed on theguideway.
 24. The transport system of claim 22, wherein the magneticflux source of at least one of the vehicles comprises one or moremagnets.
 25. The transport system of claim 24, wherein the plurality ofcoils are disposed in the guideway for close proximity to the one ormore magnets of passing vehicles.
 26. A transport system, comprising; A.a guideway including a plurality of propulsion coils disposed along aregion in which one or more vehicles are to be propelled, the guidewayhaving one or more running surfaces that support the vehicles and alongwhich they roll or slide, B. one or more vehicles disposed on theguideway, each including a magnetic flux source, C. each vehicle havinga septum portion is coupled to one or more body portions of the vehicle,wherein the septum portion is of narrowed cross-section, D. the guidewayincluding a merge region that comprises a flipper and a broadened regionof the running surface, wherein the flipper applies a lateral force tothe vehicle to alter an angle thereof as the vehicle enters the mergeregion, and wherein the broadened region continues the merge bycontacting the septum of the vehicle, thereby, providing furtherguidance or channeling for the merge.
 27. The transport system of claim26, wherein the flipper is mechanically actuated.
 28. The transportsystem of claim 27, wherein the flipper is mechanically actuated by arotary stepper motor that includes zero, one or more encoders.
 29. Thetransport system of claim 28, wherein an arm of the motor is received ina kidney-shaped aperture of the flipper.
 30. The transport system ofclaim 27, wherein the flipper is suitable for actuation into any ofdeployed and partially-deployed configurations, and wherein the flipperis actuated into the partially-deployed configuration in order to alterthe angle of the vehicle as it enters the merge region.